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 yoko = MediumMotor('outB')
 tate = LargeMotor('outA')
 mae = LargeMotor('outD')

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 def orosu():
        tate.run_to_rel_pos(position_sp=-90, speed_sp=200, stop_action='brake')
 def ageru():
        tate.run_to_rel_pos(position_sp=90, speed_sp=200, stop_action='brake')
 def migi(a):
        yoko.run_to_rel_pos(position_sp=-a, speed_sp=200, stop_action='brake')
 def hidari(b):
        yoko.run_to_rel_pos(position_sp=b, speed_sp=200, stop_action='brake')
 def susumu(c):
        mae.run_to_rel_pos(position_sp=-c, speed_sp=200, stop_action='brake')
 def sagaru(d):
        mae.run_to_rel_pos(position_sp=d, speed_sp=200, stop_action='brake')

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 def hou(t):
        orosu()
        sleep(t)
        migi(120)
        sleep(t)
        ageru()
        sleep(t)
        migi(120)
        sleep(t)
        orosu()
        sleep(t)
        migi(120)
        sleep(t)
        ageru()
        sleep(t)

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        hidari(240)
        susumu(60)
        sleep(t)
        orosu()
        sleep(t)
        sagaru(150)
        sleep(t)
        hidari(120)
        sleep(t)
        ageru()
        sleep(t)

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        susumu(150)
        migi(240)
        sleep(t)
        orosu()
        sleep(t)
        sagaru(150)
        sleep(t)
        migi(120)
        sleep(t)
        susumu(30)
        sleep(t)
        ageru()

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 def zyou(t):
        orosu()
        sleep(t)
        sagaru(30)
        hidari(60)
        sleep(t)
        ageru()
        sleep(t)

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        susumu(30)
        migi(60)
        sleep(t)
        orosu()
        sleep(t)
        migi(120)
        sleep(t)
        sagaru(90)
        hidari(240)
        sleep(t)
        ageru()
        sleep(t)

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        susumu(90)
        migi(120)
        sleep(t)
        orosu()
        sleep(t)
        sagaru(90)
        migi(240)
        sleep(t)
        ageru()
        sleep(t)

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        susumu(30)
        hidari(240)
        sleep(t)
        orosu()
        sleep(t)
        migi(120)
        sleep(t)
        ageru()
        sleep(t)

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        hidari(60)
        susumu(30)
        sleep(t)
        orosu()
        sleep(t)
        sagaru(90)
        sleep(t)
        ageru()
        sleep(t)

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        susumu(90)
        sleep(t)
        orosu()
        sleep(t)
        hidari(100)
        sagaru(60)
        sleep(t)
        ageru()
        sleep(t)
        migi(100)
        susumu(60)
        sleep(t)
        orosu()
        sleep(t)
        migi(100)
        sagaru(60)
        sleep(t)
        ageru()

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 hou(3)
 sleep(3)
 sagaru(100)
 hidari(240)
 sleep(3)

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